A cow is ready to be milked when her udder is full. The farmer has some flexibility when making a schedule of cow milking times. Usually, cows are milked in the early morning and again in the late afternoon. It is possible to milk a cow by hand. However, milking a whole herd of cows twice a day in this manner would take a great deal of time and energy. Before the invention of milking machines, people milked their dairy cows by hand by squeezing gently on the cow's teats using the thumb and forefinger. Some people continue to milk a little by hand today.